Deterministic Sampling for Nonlinear Dynamic State Estimation
Produktform: Buch / Einband - flex.(Paperback)
The goal of this work is improving existing and suggesting novel filtering algorithms for nonlinear dynamic state estimation. Nonlinearity is considered in two ways: First, propagation is improved by proposing novel methods for approximating continuous probability distributions by discrete distributions defined on the same continuous domain. Second, nonlinear underlying domains are considered by proposing novel filters that inherently take the underlying geometry of these domains into account.
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lieferbar - Lieferzeit 10-15 Werktage
Simultaneous Tracking and Shape Estimation of Extended Objects
Produktform: Buch / Einband - flex.(Paperback)
This work is concerned with the simultaneous tracking and shape estimation of a mobile extended object based on noisy sensor measurements. Novel methods are developed for coping with the following two main challenges: i) The computational complexity due to the nonlinearity and high-dimensionality of the problem, and ii) the lack of statistical knowledge about possible measurement sources on the extended object.
41,00 € inkl. MwSt.
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lieferbar - Lieferzeit 10-15 Werktage
Haptic Guidance for Extended Range Telepresence
Produktform: Buch / Einband - flex.(Paperback)
A novel navigation assistance for extended range telepresence is presented. The haptic information from the target environment is augmented with guidance commands to assist the user in reaching desired goals in the arbitrarily large target environment from the spatially restricted user environment. Furthermore, a semi-mobile haptic interface was developed, one whose lightweight design and setup configuration atop the user provide for an absolutely safe operation and high force display quality.
43,00 € inkl. MwSt.
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Linear Estimation in Interconnected Sensor Systems with Information Constraints
Produktform: Buch / Einband - flex.(Paperback)
A ubiquitous challenge in many technical applications is to estimate an unknown state by means of data that stems from several, often heterogeneous sensor sources. In this book, information is interpreted stochastically, and techniques for the distributed processing of data are derived that minimize the error of estimates about the unknown state. Methods for the reconstruction of dependencies are proposed and novel approaches for the distributed processing of noisy data are developed.
44,00 € inkl. MwSt.
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Learning Dynamic Systems for Intention Recognition in Human-Robot-Cooperation
Produktform: Buch / Einband - flex.(Paperback)
This thesis is concerned with intention recognition for a humanoid robot and investigates how the challenges of uncertain and incomplete observations, a high degree of detail of the used models, and real-time inference may be addressed by modeling the human rationale as hybrid, dynamic Bayesian networks and performing inference with these models. The key focus lies on the automatic identification of the employed nonlinear stochastic dependencies and the situation-specific inference.
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Optimal Sequence-Based Control of Networked Linear Systems
Produktform: Buch / Einband - flex.(Paperback)
In Networked Control Systems (NCS), components of a control loop are connected by data networks that may introduce time-varying delays and packet losses into the system, which can severly degrade control performance. Hence, this book presents the newly developed S-LQG (Sequence-Based Linear Quadratic Gaussian) controller that combines the sequence-based control method with the well-known LQG approach to stochastic optimal control in order to compensate for the network-induced effects.
40,00 € inkl. MwSt.
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Directional Estimation for Robotic Beating Heart Surgery
Produktform: Buch / Einband - flex.(Paperback)
In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart.
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Physics-Based Probabilistic Motion Compensation of Elastically Deformable Objects
Produktform: Buch / Einband - flex.(Paperback)
A predictive tracking approach and a novel method for visual motion compensation are introduced, which accurately reconstruct and compensate the deformation of the elastic object, even in the case of complete measurement information loss. The core of the methods involves a probabilistic physical model of the object, from which all other mathematical models are systematically derived. Due to flexible adaptation of the models, the balance between their complexity and their accuracy is achieved.
44,00 € inkl. MwSt.
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State Estimation for Distributed Systems with Stochastic and Set-membership Uncertainties
Produktform: Buch / Einband - flex.(Paperback)
State estimation techniques for centralized, distributed, and decentralized systems are studied. An easy-to-implement state estimation concept is introduced that generalizes and combines basic principles of Kalman filter theory and ellipsoidal calculus. By means of this method, stochastic and set-membership uncertainties can be taken into consideration simultaneously. Different solutions for implementing these estimation algorithms in distributed networked systems are presented.
47,00 € inkl. MwSt.
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